refactor: move firmware workspace under firmware

firmware/boards/geprc-f722-v2/Cargo.toml

@@ -0,0 +1,20 @@
+[package]
+name = "kaptan-geprc-f722-v2"
+edition.workspace = true
+license.workspace = true
+rust-version.workspace = true
+version.workspace = true
+build = "build.rs"
+
+[lints]
+workspace = true
+
+[dependencies]
+kaptan-board = { path = "../../libs/kaptan-board" }
+platform-stm32f7 = { path = "../../platforms/stm32f7" }
+
+[[bin]]
+name = "kaptan-geprc-f722-v2"
+path = "src/main.rs"
+test = false
+bench = false

firmware/boards/geprc-f722-v2/build.rs

@@ -0,0 +1,9 @@
+fn main() {
+    println!("cargo:rerun-if-changed=build.rs");
+    println!("cargo:rerun-if-changed=memory.x");
+    println!("cargo:rustc-link-arg=-Tlink.x");
+    println!(
+        "cargo:rustc-link-search={}",
+        std::env::var("CARGO_MANIFEST_DIR").expect("Cargo must set CARGO_MANIFEST_DIR")
+    );
+}

firmware/boards/geprc-f722-v2/memory.x

@@ -0,0 +1,19 @@
+MEMORY
+{
+  FLASH : ORIGIN = 0x08000000, LENGTH = 512K
+  /*
+  * STM32F722 RAM totals 256 KiB:
+  *  - DTCM:  64 KiB at 0x2000_0000
+  *  - SRAM1: 176 KiB at 0x2001_0000
+  *  - SRAM2: 16 KiB at 0x2003_C000
+  *
+  * SRAM1 and SRAM2 are contiguous and are both accessible by DMA1 and DMA2.
+  * They form one 192 KiB default RAM region from 0x2001_0000 through
+  * 0x2003_FFFF. DTCM is intentionally kept separate for a future explicit
+  * placement policy rather than mixing CPU-critical and general allocations.
+  *
+  * TODO: Utilize DTCM.
+  *
+  */
+  RAM : ORIGIN = 0x20010000, LENGTH = 192K
+}

firmware/boards/geprc-f722-v2/src/board.rs

@@ -0,0 +1,45 @@
+//! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.
+
+use kaptan_board::{
+    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
+    Severity, TelemetryProfile, VerticalSensingKind,
+};
+use platform_stm32f7::{
+    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Icm42688, Mavlink, Pc3, VerticalSensor,
+};
+
+/// ICM-42688-P-based GEP-F722-HD V2 paired with the 60 A stack.
+pub struct GeprcF722V2;
+
+impl F7Board for GeprcF722V2 {
+    const CONFIG: BoardConfig = BoardConfig {
+        name: "GEPRC TAKER F722 V2 (ICM-42688-P)",
+        mavlink: MavlinkEndpoint {
+            system_id: 1,
+            component_id: 1,
+            port: MavlinkPort::Serial2,
+            baud: 115_200,
+        },
+        profile: BoardProfile::TelemetryOnly(TelemetryProfile {
+            imu: ImuDevice::Icm42688,
+            imu_mount: ImuMount::Yaw180,
+            vertical_sensing: VerticalSensingKind::None,
+            data_channel: DataChannelRates {
+                service_hz: 100,
+                raw_imu_hz: 20,
+                range_hz: None,
+                optical_flow_hz: None,
+                heartbeat_hz: 2,
+            },
+            maximum_log_level: Severity::Info,
+        }),
+    };
+
+    fn build(platform: F7BoardBuilder) -> Result<F722BoardRoutes, BoardError> {
+        platform
+            .imu(Icm42688::on_spi3().with_drdy(Pc3))
+            .mavlink(Mavlink::on_usart2())
+            .vertical_sensor(VerticalSensor::none())
+            .build()
+    }
+}

firmware/boards/geprc-f722-v2/src/main.rs

@@ -0,0 +1,6 @@
+#![no_std]
+#![no_main]
+
+mod board;
+
+platform_stm32f7::flight_firmware!(board::GeprcF722V2);